DE10056129A1 - Control system for an actuator in a motor vehicle - Google Patents

Control system for an actuator in a motor vehicle

Info

Publication number
DE10056129A1
DE10056129A1 DE2000156129 DE10056129A DE10056129A1 DE 10056129 A1 DE10056129 A1 DE 10056129A1 DE 2000156129 DE2000156129 DE 2000156129 DE 10056129 A DE10056129 A DE 10056129A DE 10056129 A1 DE10056129 A1 DE 10056129A1
Authority
DE
Germany
Prior art keywords
functional unit
calculation
control system
unit
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE2000156129
Other languages
German (de)
Inventor
Peter Brenner
Joerg Mayer
Arnulf Heilig
Markus Fohler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch Automotive Steering GmbH
Original Assignee
Robert Bosch Automotive Steering GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Automotive Steering GmbH filed Critical Robert Bosch Automotive Steering GmbH
Priority to DE2000156129 priority Critical patent/DE10056129A1/en
Priority claimed from DE2001503299 external-priority patent/DE50103299D1/en
Publication of DE10056129A1 publication Critical patent/DE10056129A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures

Abstract

A control system for an actuator in a motor vehicle, in particular a steering control system, has a regulating and control unit which, depending on measurement data from a sensor, generates actuating signals for adjusting the actuator. Furthermore, a control unit is provided for monitoring the function of the regulating and control unit, the control system being switched off in the event of a fault. DOLLAR A The regulating and control unit consists of three functionally independent functional units, the second functional unit examining the control signals of the first functional unit for agreement with setpoints and switching off the control system in the event of a fault.

Description

The invention relates to a control system for a Actuator in a motor vehicle according to the preamble of the An saying 1.

Such a control system is described in DE 198 34 870 A1 described a fault-tolerant electromechanical Steering plate for a steer-by-wire application in motor vehicles disclosed. The steering actuator is a regulating and control unit assigned, in which a steering depending on measurement signals angle sensor and other status and operating variables of the Motor vehicle steep signals for setting an electrical Steering motor are generated to a predetermined target angle. Around in the event of a fault in a sensor or in a subsystem the regulation and control unit to a correct steering function possible, the steering actuator is un in two redundant systems divided, with each system a regulating and control unit and comprises an associated steering motor. In normal operating mode - with a fully functional steering actuator - only one works of the systems active, the second system, on the other hand, is passive on. In the event of a fault in the active system, this can switched passively via a normally open relay and that previously passive second system can be activated. Also dew the two regulating and control units of the two systems permanent actual variables and error information, whereby a watchdog function is implemented.

The steering plate with the two working independently Systems require a lot of hardware. Furthermore  To implement the watchdog function, a high Circuitry can be done to the various subsys system with the regulating and control unit of each other system.

The invention is based on the problem of a control system to specify for an actuator in a motor vehicle, in particular a steering control system, which with a simple Structure has a high fault tolerance.

This problem is solved according to the invention with the features of the Proverb 1 solved. The subclaims pass on appropriate education.

The control system according to the invention for an actuator in egg nem motor vehicle has only one rule and tax on, but with three functionally independent Functional units is equipped in a certain Working together wisely and at least partially redundant te calculation of the control signals for setting the motor vehicle Enable tool actuator. The three functional units in within the control unit work in a hierarchy chemically coordinated by the first functional unit from input signals according to a stored calculation script control signals for the actuator to be manipulated be calculates a quantitative ver in the second functional unit equal to the control signals of the first functional unit with Ver equals or setpoints is carried out, in the event of an error the control system is turned off, and in the third Functional unit communicating with the separately trained control unit is carried out. Both of the three Functional units as well as the separate control unit independent of each other, able to switch off the control system turn. In this version, in particular the first  two functional units at least partially as software in the regulation and control unit can be realized at one high level of security the number of for the control system required components are kept low, thereby reducing costs and Installation space can be reduced and reliability is increased.

In a preferred development, the comparison values single from the second functional unit per calculation cycle for part of the calculation steps of the first function ons unit determined and checked for agreement, whereby a significant saving in calculation is achieved because in the second functional unit does not have the same number of calculations steps as carried out in the first functional unit must be, but only a subset of it. about the choice of calculations, which in the second function unity can be influenced the desired level of security with which the control system to be operated. The selection can be made from the point of view particularly error-prone subsystems or calculation modules the first functional unit.

In order to achieve the highest possible security level with a low computing time to achieve, are in an appropriate execution in the second functional unit in two consecutive calculations cycles, especially in two consecutive the calculation cycles, the calculations or results two different subsystems or calculation modules of the first functional unit checked redundantly. For example instruct in the first functional unit per calculation cycle Control signal are generated in a first calculation module, which is an interim result, which is described in the following Calculation modules of the first functional unit further Manipu lations is subjected. In the same calculation cycle, in the second functional unit performs a redundant calculation in one  first calculation module of the second functional unit performed, which is analogous to the calculation of the first calculation mo module of the first functional unit or a subunit of the first calculation module is set up. That way gets a comparison value for in the second functional unit an intermediate result from the first functional unit. In one downstream comparison block can see the intermediate result the first functional unit with the assigned comparison value be compared from the second functional unit, wherein in In the event of an impermissibly high deviation, generate an error signal is displayed, and / or the tax system switches off or into a safety state (fail safe state) in which the support is switched off tet and an exclusively mechanical, hydraulic o the pneumatic grip on the driving to be manipulated Stuff component is given and / or on alternative Stellglie which is switched. This saves computing time achieved that in the second functional unit only one sub amount from the in the first functional unit completely leading calculations is carried out.

In a subsequent calculation cycle, the first radio tion unit in turn prefers all calculation modules Determination of the control signal acting on the actuator run through. In the second functional unit is now in the sub a calculation result for the first calculation cycle determined another calculation module, so that in one another of the following calculation cycles different calculation mo module of the first functional unit for functionality be checked, in the event of an error again an error signal is fathered.

In this way, per calculation cycle in the second radio tion unit a calculation module of the first functional unit  be checked.

The first functional unit and the second expediently have Functional unit an identical number of identically constructed Be calculation modules, whereby in the second functional unit pro Calculation cycle is just a subset of the calculation module len is run through, the results of which to compare the assigned arranged calculation modules of the first functional unit be drawn.

The third functional unit within the regulation and control unit Unit is expediently designed as a communication unit that communicates with the separately trained control unit where the control unit prefers both the correct one Sequence of individual calculation modules from the first function as well as the orderly operation of the modules of the second Functional unit checked and in the event of a malfunction System shuts down.

Further advantages and practical designs are the others Entities, the description of the figures and the drawings ent to take. Show it:

Fig. 1 is a block diagram showing the structure of a Steuersys tems for acting on an actuator in a motor vehicle, comprising a regulating and control device devices with three functionally independent functional unit and a separately formed control,

Fig. 2 is a schematic representation of the cyclic Überprü evaporation of the results of calculations in the first functional unit by comparison with setpoint values from the second entity,

But are, however, checked with differing calculation modules, which recur in larger time intervals Fig. 3 is a Fig. 2 corresponding representation,

Fig. 4 is a block diagram depicting a detailed development of the comparison of outputs from calculation planning modules of the first functional unit with calculation modules voltage of the second functional unit.

In the following figures, the same components and modules are included provided with the same reference numerals.

In the block diagram of FIG. 1, a control system 1 for an actuator 8 in a motor vehicle is schematically Darge. The control system shown is preferably a steering support system; Accordingly, the actuator 8 is designed as an electrically actuated steering support motor, via which the steering torque of the driver is strengthened ver.

However, other support applications may also come applications or applications from the X-by-wire area in Be traditional costume, e.g. steer-by-wire functions, drive-by-wire Functions or break-by-wire functions.

The control system 1 comprises a regulating and control unit 2 , which is subdivided into three functional units 2 a, 2 b and 2 c, and a control unit 3 , which is separately trained by the regulating and control unit 2 and which controls the functionality of subsystems of and control unit checked.

The first functional unit 2 a of the regulating and control unit 2 comprises a plurality of calculation and processing blocks 4 , 5 , 6 , 7 and 9 , in which i output signals are generated from input signals i, the actuator 8 , which in particular as an electric motor is trained to be fed leads to the setting. In a first input-side calculation block 4 , which is stored as software in the first functional unit 2 a, the input signals i, which are in particular steering angle signals of a steering angle sensor, are evaluated. An engine controller 5 is generated from these signals in accordance with a stored calculation rule in individual calculation modules A, B, C, etc., in which individual calculation steps are carried out, to which the next processing block is supplied. The generated in the calculation block 4 and the engine controller 5 to be supplied signals represent a target engine torque, in particular a target steering assist force with which the actuator 8 is to be opened. In the motor controller 5 , depending on the signals supplied to the motor controller, which in addition to the desired engine torque also information about the speed n of the actuator 8 and information about the motor voltage with which the actuator 8 is acted upon, a desired voltage is generated, which subsequent block 6 is fed. The motor controller is also stored as software in the first functional unit 2 a.

The blocks 6 and 7 are a pulse width modulator and a current amplifier in which the current to be supplied to the actuator 8 is controlled. The pulse width modulator 6 and the current amplifier 7 , both of which are implemented as hardware in the first functional unit 2 a, is assigned a voltage diagnosis unit 9 which supplies both the input voltage to be supplied to the pulse width modulator 6 and the output voltage generated in the current amplifier 7 for the actuator 8 and in which a data check of these voltage values is carried out. The voltage diagnosis unit 9 is also expediently designed as software and stored in the first function unit 2 a.

In the second functional unit 2 b of the regulating and control unit 2 , a further calculation block 10 is provided, which comprises a series of calculation modules A ', B', C etc. and U ', each of which has the same structure as the calculation modules A, B, C etc. from the calculation block 4 or how the calculation module U from the motor controller 5 of the first functional unit 2 a. The calculation block 10 of the second function unit 2 b expediently comprises the same number of individual calculation modules as the calculation block 4 and the motor controller 5 from the first function unit 2 a. The calculation modules A ', B', C 'etc. and U' contained in the calculation block 10 of the second functional unit 2 b are designed redundantly to the corresponding calculation modules A, B, C, etc. and U of the first functional unit 2 a. In the calculation block 10 , identical calculations are carried out depending on the input signals 1 as in the calculation block 4 and in the motor controller 5 of the first functional unit 2 a, for calculation reasons, expediently only one subset of the calculations from the first in the second functional unit 2 b per calculation cycle Function unit 2 a is carried out.

The calculation block 10 from the second functional unit 2 b is followed by a comparison block 11, to which the calculation results from the individual calculation modules A, B, C. etc. and U from the calculation block 4 or the engine controller 5 of the first functional unit 2 a as well as input signals the results of the corresponding and currently performed calculation module A ', B', C ', etc., as well as U' to the calculation block 10 from the second operation unit 2 are supplied to b. In comparison block 11 there is a comparison of the calculation results between assigned calculation modules A-A ', B-B', C-C ', etc. and U-U'. If the results agree within a permissible tolerance, the functionality of the checked blocks or modules can be assumed. If the results deviate from one another in an impermissible manner taking into account a specified tolerance, there is a malfunction and the control system is switched off.

Both the calculation block 10 and the comparison block 11 of the second functional unit 2 b are implemented as software in the regulating and control unit 2 . The calculation in the individual calculation modules A ', B', C ', etc. and U' in the calculation block 10 is expediently underpinned by a mathematical library with standard functions, whereas the calculation in the calculation block 4 and in the motor controller 5 of the first functional unit 2 a without such a mathematical library. The functional unit 2 b serves to monitor the functions from the first functional unit 2 a.

In the third functional unit 2 c, hardware monitoring is implemented within the regulating and control unit 2 . For this purpose, a communication unit 12 is provided, which on the one hand communicates with blocks and modules of the first two functional units 2 a and 2 b and on the other hand with the externally trained control unit 3 (watchdog). In the third functional unit, the proper execution of all modules and blocks of the first two functional units is monitored and safety-relevant hardware components of the regulating and control unit are checked for functionality. The mutual monitoring of regulating and control unit 2 and control unit 3 is based on a question-answer logic in which both the proper passage of the blocks or modules and the function of these blocks or modules are checked. 3 questions are asked by the control unit and forwarded via the communication unit 12 to the regulating and control unit 2 , which have to be answered by the individual modules or blocks of the functional units 2 a and 2 b, in particular in a defined sequence and within defined time window. The question asked consists, for example, of a binary number which must be answered with an associated binary number within the defined time window. The bit length of the binary numbers can be used to control the probability that a correct answer will be delivered by chance. If an error is detected, the control system can be switched off by the control unit 3 .

Control unit 3 is also expediently monitored. A query logic carried out in the communication unit 12 can be used to check whether the control unit 3 asks the required questions within the defined time window. If the questions are not delivered within the time window or have an incorrect question value, the entire control system 1 can be switched off by the communication unit 12 .

The communication unit 12 communicates expediently with a processor check unit 13 , with which processor components, for example adders, can be checked for functionality, and with a memory check unit 14 , which checks the memory of the control system for functionality.

In the exemplary embodiment, the communication unit 12 checks the calculation block 10 and the comparison block 11 from the second functional unit 2 b and the voltage diagnosis unit 9 from the first functional unit 2 a.

Fig. 2 symbolizes the logic with which the second functional unit 2 b monitors the functions of the first functional unit 2 a. Shown are three rows of a plurality of computing modules A, B, C, in accordance with Fig. 1 to the calculation voltage block 4 of the first functional unit 2 are assigned to a, a subsequent calculation module A '(Series 1) and B' (2. Row) or C '(3rd row), which is assigned to the calculation block 10 of the second functional unit 2 b, and the comparison block 11 of the second functional unit 2 b. Each row represents a calculation cycle; the rows are processed sequentially, for example at a time interval of 1 ms.

In the flow logic according to FIG. 2, the calculation modules A, B and C of the first calculation block of the first functional unit are first processed in each calculation cycle. In the first row, the calculation module A 'of the second calculation block of the second functional unit is additionally determined, the results A and A' being compared in the following comparison block 11 and a switch-off signal being generated in the event of an error. The following rows run analogously, with only a single calculation module of the second functional unit being executed in each row, which is compared with the corresponding calculation module of the first functional unit. In each new calculation cycle, a further calculation module is determined in the second functional unit. This process is carried out until all calculation modules of the first functional unit have been compared with the assigned calculation module of the second functional unit. Since a total of three calculation modules A, B, C are provided in the first functional unit in the exemplary embodiment according to FIG. 2, the monitoring logic is completely run through after a total of three calculation cycles.

The flow logic according to FIG. 3 shows an additional calculation cycle to be carried out, which is carried out at larger time intervals compared to the cycles of the logic from FIG. 2. For example, provision can be made for the monitoring according to FIG. 3 to be carried out only every tenth calculation cycle, that is to say every 10 ms, if the calculation cycles from FIG. 2 are carried out at 1 ms intervals.

A single calculation cycle each with two computational modules D and D ', E and E', and U and U 'from the calculation block 4 and the motor controller shown in FIG. 3 5 of the first functional unit and the calculation block tion unit 10 of the second radio, wherein each two assigned calculation modules are compared in a subsequent comparison block 11 and a shutdown signal is generated in the event of an error.

Fig. 4 shows a more detailed representation of the comparison of two calculation modules D and D 'different calculation blocks 4 and 10 of the first and second functional unit. In both calculation modules D and D ', output variables o and o' are determined as a function of input signals i and are fed to the comparison block 11, in which a comparison between these variables is carried out. If the output variables deviate from one another in an impermissible manner, a switch-off signal is generated. Otherwise, the calculation is continued in the calculation module E.

LIST OF REFERENCE NUMBERS

1

control system

2

Regulation and control unit

2

a,

2

b

2

c functional unit

3

control unit

4

calculation block

5

motor controller

6

Pulsweitenmodulierer

7

current amplifier

8th

actuator

9

Voltage diagnostic unit

10

calculation block

11

comparison block

12

communication unit

13

Processor checking unit

14

Memory check unit

Claims (10)

1. Control system for an actuator in a motor vehicle, in particular a steering control system, with a regulating and control unit ( 2 ), which generates control signals for adjusting the actuator ( 8 ) as a function of measurement data of at least one sensor, and with a control unit ( 3 ) for monitoring the function of the regulating and control unit ( 2 ), the control system ( 1 ) being switched off in the event of a fault, characterized in that in the regulating and control unit ( 2 ) three functionally independent function levels or units ( 2 a, 2 b, 2 c) are provided, of which at least the first two functional levels or units ( 2 a, 2 b) each have at least one calculation module (A, B, C, U, A ', B', C ', U') for data manipulation, wherein
the first functional unit ( 2 a) evaluates the measurement data of the at least one sensor and calculates the actuating signals for the actuator ( 8 ) in accordance with a stored calculation rule,
the second functional unit ( 2 b) examines the control signals of the first functional unit ( 2 a) for agreement with setpoints, the control system ( 1 ) being switched off in the event of a fault
the third functional unit ( 2 c) controls the communication with the control unit ( 3 ), which controls both the function of the calculation modules (A, B, C, U) of the first functional unit ( 2 a) and the function of the calculation modules (A ', B ', C', U ') of the second functional unit ( 2 b) is monitored.
2. Control system according to claim 1, characterized in that the first functional unit ( 2 a) and the second functional unit ( 2 b) are at least partially realized in the control and control unit ( 2 ) stored and running software.
3. Control system according to claim 1 or 2, characterized in that in the second functional unit ( 2 b) the target values for a part of the calculations of the first functional unit ( 2 a) are determined redundantly and in accordance with the calculation results of the first functional unit ( 2 a) be checked.
4. Control system according to one of claims 1 to 3, characterized in that in the second functional unit ( 2 b) in two successive calculation cycles, the calculation results from two different calculation modules (A, B, C, U) of the first functional unit ( 2 a ) be checked redundantly.
5. Control system according to one of claims 1 to 4, characterized in that the second functional unit ( 2 b) a calculation module (A ', B', C ', U') for the redundant calculation of setpoints and a comparison block (11) for comparison the setpoints with the control signals of a calculation module (A, B, C, U) of the first functional unit ( 2 a).
6. Control system according to one of claims 1 to 5, characterized in that in the control unit ( 3 ) the correct execution of the calculation modules (A, B, C, U) of the first functional unit of the regulating and control unit ( 2 ) is cyclically queried.
7. Control system according to one of claims 1 to 6, characterized in that in the control unit ( 3 ) the proper execution of the calculation modules (A ', B', C ', U') of the second functional unit ( 2 b) of the control and Control unit ( 2 ) is polled cyclically.
8. Control system according to claim 6 or 7, characterized, that for proper functioning in the to be checked Calculation module (A, B, C, U, A ', B', C ', U') within one Time window generates a signal with a predetermined value must become.
9. Control system according to one of claims 1 to 8, characterized in that in the first functional unit ( 2 a) in a first loading module (A, B, C) a target steering assist force or a quantity correlating therewith is generated.
10. Control system according to claim 9, characterized in that in the first functional unit ( 2 a) in a second loading calculation module (U), which acts as a motor controller ( 5 ) for a steering assist motor, from the target steering support force or the correlating size a target value for the steering assist motor is generated.
DE2000156129 2000-11-13 2000-11-13 Control system for an actuator in a motor vehicle Withdrawn DE10056129A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2000156129 DE10056129A1 (en) 2000-11-13 2000-11-13 Control system for an actuator in a motor vehicle

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE2000156129 DE10056129A1 (en) 2000-11-13 2000-11-13 Control system for an actuator in a motor vehicle
DE2001503299 DE50103299D1 (en) 2000-11-13 2001-10-29 Control system for an actuator in a motor vehicle
ES01125755T ES2227039T3 (en) 2000-11-13 2001-10-29 Control system for a member of adjustment in automotive vehicle.
EP20010125755 EP1205373B1 (en) 2000-11-13 2001-10-29 System for controlling an actuator in a vehicle

Publications (1)

Publication Number Publication Date
DE10056129A1 true DE10056129A1 (en) 2002-05-23

Family

ID=7663081

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2000156129 Withdrawn DE10056129A1 (en) 2000-11-13 2000-11-13 Control system for an actuator in a motor vehicle

Country Status (3)

Country Link
EP (1) EP1205373B1 (en)
DE (1) DE10056129A1 (en)
ES (1) ES2227039T3 (en)

Cited By (2)

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DE102008047772A1 (en) * 2008-09-17 2010-04-15 Volkswagen Ag Servo steering system and method of operating a power steering system
DE102013012497A1 (en) * 2013-07-26 2015-01-29 Wabco Gmbh Method and electronic circuit arrangement for redundant signal processing of a safety-related application, motor vehicle brake system and motor vehicle with it and use of such electronic circuitry

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DE102004049558A1 (en) * 2004-10-12 2006-04-27 Robert Bosch Gmbh Method and device for controlling a motor vehicle lighting
JP5013504B2 (en) 2005-05-30 2012-08-29 富士通テン株式会社 Control device for electric power steering device
US8160779B2 (en) * 2006-04-03 2012-04-17 Thuyssenkrupp Presta AG Monitoring device for the function of an electronic control device, and method for this purpose
EP2090952A3 (en) * 2008-02-14 2012-03-28 Robert Bosch Gmbh Hydraulic component control device and method for controlling hydraulic components

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DE4215630A1 (en) * 1992-05-12 1992-12-03 Zahnradfabrik Friedrichshafen Electronically controlled vehicular steering with redundant safety circuit - imposes safety routing when set-point value for motor-positioning signal departs from within memorised limits
EP0572961A2 (en) * 1992-06-01 1993-12-08 Koyo Seiko Co., Ltd. Electric power steering apparatus
DE4241849A1 (en) * 1992-12-11 1994-06-16 Danfoss As Steering system for vehicles or ships
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DE102008047772A1 (en) * 2008-09-17 2010-04-15 Volkswagen Ag Servo steering system and method of operating a power steering system
DE102013012497A1 (en) * 2013-07-26 2015-01-29 Wabco Gmbh Method and electronic circuit arrangement for redundant signal processing of a safety-related application, motor vehicle brake system and motor vehicle with it and use of such electronic circuitry
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Also Published As

Publication number Publication date
ES2227039T3 (en) 2005-04-01
EP1205373B1 (en) 2004-08-18
EP1205373A1 (en) 2002-05-15

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